#ifndef KALMAN_TYPES_H
#define KALMAN_TYPES_H

/* Include Files */
#include "rtwtypes.h"
/* Type Definitions */
#ifndef typedef_kalman_data
#define typedef_kalman_data
typedef struct {
  double GyroscopeNoise[3];
  double AccelerometerNoise[3];
  double GyroscopeBiasNoise[3];
  double AccelerometerBiasNoise[3];
  double GeomagneticVectorNoise[3];
  double MagnetometerBiasNoise[3];
  double State[22];
  double StateCovariance[484];
  double ReferenceLocation[3];
  double IMUSampleRate;
} kalman_data;



#endif /* typedef_kalman_data */

#endif
